version: 66.03
glider: 120
mission: 9
dive: 30
start: 9 7 108 22 41 58
data:
$ID,120
$MISSION,9
$DIVE,30
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,600
$T_MISSION,615
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18239.607
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,223608,5012.680,-14441.646,29,0.9,29,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-75.0
$GPS2,224103,5012.654,-14441.554,13,1.4,13,18.6
$SPEED_LIMITS,0.095,0.184
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.122,0.138
$KALMAN_X,17337.6,-98.6,61.9,-7596.5,174.4
$KALMAN_Y,17476.4,148.6,-86.9,-4377.8,132.2
$MHEAD_RNG_PITCHd_Wd,23.0,20767,-13.3,-5.500
$D_GRID,1001
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.72,-117.3,0.0,0.0,0,53,0.00,0.00,-32.75,0.000,2,0.000,0.000,144,2400,2333
$GC,55,-0.72,-117.3,3.2,-6.3,3,102,13.50,2.38,-28.02,0.000,4,0.295,0.090,3080,990,3356
$GC,355,-0.50,-117.3,45.2,-11.2,30,361,0.25,2.33,0.00,0.000,6,0.174,0.065,3150,2408,3360
$GC,681,-0.50,-117.3,68.5,-7.4,60,685,0.00,2.35,0.00,0.000,4,0.000,0.071,3150,981,3361
$GC,731,-0.50,-117.3,72.8,-8.0,64,735,0.00,2.33,0.00,0.000,6,0.000,0.063,3150,2409,3361
$GC,1047,-0.50,-117.3,99.1,-8.6,83,1051,0.00,2.30,0.00,0.000,4,0.000,0.084,3150,3810,3362
$GC,1091,-0.50,-117.3,102.9,-8.8,85,1095,0.00,2.28,0.00,0.000,6,0.000,0.058,3150,2399,3362
$GC,1418,-0.55,-117.3,123.0,-5.6,101,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2399,3362
$GC,1727,-0.63,-117.3,148.6,-8.1,116,1729,0.12,0.00,0.00,0.000,6,0.084,0.000,3100,2399,3362
$GC,2054,-0.63,-117.3,178.7,-9.4,127,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3363
$GC,2360,-0.63,-117.3,201.4,-6.7,137,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3362
$GC,2666,-0.63,-117.3,221.8,-6.8,147,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3362
$GC,2973,-0.63,-117.3,243.9,-7.5,157,2977,0.00,2.33,0.00,0.000,4,0.000,0.083,3100,3810,3362
$GC,3027,-0.59,-117.3,248.6,-8.7,158,3034,0.00,2.28,0.00,0.000,6,0.000,0.062,3100,2397,3362
$GC,3339,-0.59,-117.3,274.0,-8.0,169,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3361
$GC,3646,-0.59,-117.3,295.0,-6.9,179,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3361
$GC,3980,-0.59,-117.3,318.5,-6.9,186,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3361
$GC,4283,-0.59,-117.3,338.2,-6.5,191,4287,0.00,2.35,0.00,0.000,4,0.000,0.085,3099,3822,3360
$GC,4325,-0.59,-117.3,341.3,-7.1,191,4330,0.00,2.30,0.00,0.000,6,0.000,0.064,3099,2397,3360
$GC,4652,-0.59,-117.3,365.2,-7.5,197,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3360
$GC,4955,-0.59,-117.3,387.9,-7.5,202,4959,0.00,2.33,0.00,0.000,4,0.000,0.086,3099,3813,3359
$GC,4986,-0.59,-117.3,390.3,-7.0,202,4991,0.00,2.28,0.00,0.000,6,0.000,0.064,3100,2398,3359
$GC,5324,-0.59,-117.3,411.1,-6.0,208,5328,0.00,2.30,0.00,0.000,4,0.000,0.079,3100,984,3359
$GC,5361,-0.59,-117.3,413.7,-6.3,208,5366,0.00,2.30,0.00,0.000,6,0.000,0.066,3099,2400,3359
$GC,5688,-0.59,-117.3,434.2,-6.4,214,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3359
$GC,5991,-0.59,-117.3,454.6,-6.7,219,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3358
$GC,6294,-0.59,-117.3,475.0,-6.8,224,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3358
$GC,6597,-0.59,-117.3,495.0,-6.6,229,6601,0.00,2.30,0.00,0.000,4,0.000,0.078,3099,991,3358
$GC,6623,-0.59,-117.3,496.9,-7.2,229,6628,0.00,2.30,0.00,0.000,6,0.000,0.067,3099,2405,3358
$GC,6961,-0.59,-117.3,518.7,-6.5,235,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3358
$GC,7264,-0.59,-117.3,537.5,-6.1,240,7268,0.00,2.30,0.00,0.000,4,0.000,0.078,3099,993,3357
$GC,7289,-0.59,-117.3,539.2,-6.4,240,7294,0.00,2.30,0.00,0.000,6,0.000,0.067,3099,2408,3357
$GC,7627,-0.59,-117.3,559.8,-6.2,246,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3357
$GC,7930,-0.59,-117.3,580.0,-6.7,251,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3357
$GC,8233,-0.59,-117.3,602.2,-7.3,256,8237,0.00,2.33,0.00,0.000,4,0.000,0.079,3100,987,3356
$GC,8265,-0.59,-117.3,604.7,-7.8,256,8270,0.00,2.30,0.00,0.000,6,0.000,0.067,3099,2401,3357
$GC,8597,-0.59,-117.3,629.7,-7.5,262,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3356
$GC,8900,-0.59,-117.3,651.7,-7.2,267,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3356
$GC,9203,-0.59,-117.3,672.6,-6.9,272,9207,0.00,2.30,0.00,0.000,4,0.000,0.080,3099,990,3356
$GC,9246,-0.59,-117.3,675.8,-7.0,272,9251,0.00,2.30,0.00,0.000,6,0.000,0.067,3100,2407,3356
$GC,9567,-0.59,-117.3,697.7,-6.9,278,9571,0.00,2.30,0.00,0.000,4,0.000,0.079,3099,990,3356
$GC,9616,-0.59,-117.3,701.2,-7.1,278,9621,0.00,2.28,0.00,0.000,6,0.000,0.067,3100,2394,3356
$GC,9931,-0.59,-117.3,722.4,-6.8,284,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2394,3356
$GC,10234,-0.59,-117.3,743.5,-7.0,289,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2394,3355
$GC,10537,-0.59,-117.3,764.0,-6.7,294,10541,0.00,2.28,0.00,0.000,4,0.000,0.080,3099,990,3355
$GC,10568,-0.59,-117.3,766.2,-7.3,294,10573,0.00,2.30,0.00,0.000,6,0.000,0.069,3099,2403,3355
$GC,10906,-0.59,-117.3,786.7,-6.0,300,10907,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3355
$GC,11209,-0.59,-117.3,803.5,-5.4,305,11211,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3355
$GC,11512,-0.59,-117.3,819.0,-5.1,310,11514,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3355
$GC,11816,-0.59,-117.3,834.4,-5.2,315,11820,0.00,2.30,0.00,0.000,4,0.000,0.080,3099,992,3355
$GC,11848,-0.63,-117.3,836.3,-6.1,315,11852,0.00,2.30,0.00,0.000,6,0.000,0.069,3099,2407,3354
$GC,12179,-0.63,-117.3,854.9,-5.7,321,12183,0.00,2.30,0.00,0.000,4,0.000,0.086,3099,3820,3354
$GC,12211,-0.68,-117.3,857.0,-6.3,321,12216,0.00,2.28,0.00,0.000,6,0.000,0.066,3100,2405,3354
$GC,12544,-0.74,-117.3,876.5,-5.9,327,12545,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3354
$GC,12847,-0.79,-117.3,893.4,-5.5,332,12849,0.12,0.00,0.00,0.000,6,0.097,0.000,3050,2405,3353
$GC,13150,-0.69,-117.3,914.7,-7.0,337,13154,0.15,2.33,0.00,0.000,4,0.171,0.087,3096,3811,3354
$GC,13193,-0.74,-117.3,917.2,-5.5,337,13197,0.00,2.28,0.00,0.000,6,0.000,0.067,3096,2402,3353
$GC,13514,-0.79,-117.3,933.2,-5.0,343,13515,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2402,3353
$GC,13817,-0.83,-117.3,948.2,-4.9,348,13819,0.15,0.00,0.00,0.000,6,0.089,0.000,3038,2402,3353
$GC,14120,-0.70,-117.3,970.0,-7.3,353,14124,0.15,2.33,0.00,0.000,4,0.177,0.087,3074,3810,3353
$GC,14156,-0.70,-117.3,972.7,-6.2,353,14161,0.00,2.28,0.00,0.000,6,0.000,0.067,3074,2401,3353
$STATE,14482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14482,begin apogee
$GC,14486,-0.22,0.0,992.6,6.1,359,14589,0.55,0.00,100.20,1.506,6,0.163,0.000,3241,2189,2876
$STATE,14590,end apogee,CONTROL_FINISHED_OK
$STATE,14590,begin climb
$GC,14591,0.72,117.3,994.0,0.0,360,14703,0.98,2.60,102.75,1.457,4,0.107,0.084,3551,794,2397
$GC,14758,0.34,117.3,990.6,9.3,363,14763,0.47,2.42,0.00,0.000,6,0.199,0.065,3431,2200,2395
$GC,15096,0.29,117.3,970.6,5.9,369,15097,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2200,2394
$GC,15399,0.24,117.3,952.8,5.8,374,15401,0.12,0.00,0.00,0.000,6,0.192,0.000,3400,2200,2393
$GC,15702,0.31,136.2,937.7,4.9,379,15721,0.00,0.00,16.77,1.394,6,0.000,0.000,3401,2200,2320
$GC,16005,0.37,136.2,920.8,5.7,384,16010,0.12,2.40,0.00,0.000,4,0.091,0.086,3447,789,2320
$GC,16042,0.32,136.2,918.2,7.0,384,16047,0.00,2.38,0.00,0.000,6,0.000,0.071,3447,2199,2320
$GC,16369,0.25,136.2,895.8,6.9,390,16371,0.17,0.00,0.00,0.000,6,0.171,0.000,3402,2199,2319
$GC,16672,0.32,136.2,878.9,5.6,395,16673,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2199,2319
$GC,16975,0.39,143.6,862.8,5.3,400,16985,0.12,0.00,7.70,1.236,6,0.093,0.000,3449,2199,2290
$GC,17278,0.33,143.6,843.1,6.6,405,17279,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2289
$GC,17581,0.27,143.6,822.7,6.8,410,17583,0.17,0.00,0.00,0.000,6,0.171,0.000,3403,2199,2289
$GC,17885,0.35,144.0,805.9,5.5,415,17886,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2199,2289
$GC,18188,0.44,151.6,789.9,5.3,420,18198,0.17,0.00,8.35,1.226,6,0.088,0.000,3469,2199,2257
$GC,18491,0.33,151.6,769.2,6.9,425,18493,0.17,0.00,0.00,0.000,6,0.172,0.000,3423,2199,2256
$GC,18793,0.33,153.5,752.5,5.4,430,18797,0.00,2.35,0.00,0.000,4,0.000,0.087,3423,791,2257
$GC,18826,0.41,166.8,750.7,5.1,430,18846,0.00,2.33,13.98,1.292,6,0.000,0.066,3423,2205,2195
$GC,19162,0.46,166.8,731.1,5.9,436,19164,0.12,0.00,0.00,0.000,6,0.094,0.000,3470,2205,2194
$GC,19465,0.39,166.8,709.0,7.3,441,19469,0.00,2.38,0.00,0.000,4,0.000,0.085,3476,791,2194
$GC,19531,0.30,166.8,704.0,7.7,442,19535,0.17,2.33,0.00,0.000,6,0.168,0.067,3413,2199,2193
$GC,19897,0.40,175.6,684.7,5.2,448,19907,0.00,0.00,8.75,1.182,6,0.000,0.000,3413,2200,2160
$GC,20200,0.50,176.7,668.3,5.5,453,20202,0.20,0.00,0.00,0.000,6,0.088,0.000,3487,2199,2159
$GC,20502,0.38,176.7,643.2,8.4,458,20507,0.15,2.38,0.00,0.000,4,0.175,0.085,3449,784,2159
$GC,20573,0.38,176.7,638.0,6.4,459,20578,0.00,2.33,0.00,0.000,6,0.000,0.067,3449,2200,2159
$GC,20933,0.38,176.7,613.4,6.8,465,20937,0.00,2.35,0.00,0.000,4,0.000,0.086,3449,792,2159
$GC,21003,0.38,176.7,608.8,6.6,466,21008,0.00,2.33,0.00,0.000,6,0.000,0.067,3449,2204,2159
$GC,21369,0.38,176.7,585.7,6.3,472,21371,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2204,2159
$GC,21672,0.38,176.7,567.1,6.2,477,21674,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2204,2159
$GC,21975,0.38,176.7,548.6,6.1,482,21977,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2204,2159
$GC,22279,0.38,176.7,531.3,5.7,487,22282,0.00,2.35,0.00,0.000,4,0.000,0.085,3449,784,2159
$GC,22338,0.38,176.7,527.7,5.8,487,22346,0.00,2.33,0.00,0.000,6,0.000,0.066,3449,2208,2159
$GC,22648,0.38,176.7,509.6,5.9,493,22652,0.00,2.35,0.00,0.000,4,0.000,0.084,3449,791,2159
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$STATE,30642,end climb,SURFACE_DEPTH_REACHED
$STATE,30642,begin surface coast
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$STATE,30665,end surface coast,CONTROL_FINISHED_OK
$STATE,30665,begin surface
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$10V_AH,10.7,4.433
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$DATA_FILE_SIZE,44342,780
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